@inbook {493,
	title = {Real-Time Traffic Lights Identification using YOLOv3 Algorithm For Autonomous Vehicles},
	booktitle = {CAT Vehicle 2020 Technical Reports},
	year = {2020},
	abstract = {<p>Safety has always been a priority in automobile manufacture. Traffic light detection plays a major role in regards to safety in autonomous vehicles. Previ- ous methods involved utilizing a combination of image processing and training a neural network model. Those methods were not fully successful as they pre- sented limitations such as trouble detecting yellow and arrow traffic lights, the inability to identify a traffic light from a few pixels due to long distances, and the obstruction of traffic lights causing failure of detection. We propose to identify traffic lights and their states in both urban and suburban areas by developing a deep learning model utilizing a YOLOv3 model. Additionally, we will use the large dataset of traffic light images from the {\textquoteright}Bosch Small Traffic Lights Dataset{\textquoteright} to train the YOLOv3. Our proposed method will be successful because a better processed dataset indicates traffic lights in busier environments, and a balanced dataset allows the model to be better trained at identifying traffic signals and their status. The success of our proposed method will benefit autonomous ve- hicles{\textquoteright} feasibility by improving safety at intersections. The risks of this method include missing potential traffic signals which could lead to potential accidents. We will use a camera that will record the data that will later be processed. The mid-term check for success is accurate detection of traffic lights in ROS simula- tions, and the final check for success is the successful test drive of University of Arizona{\textquoteright}s CAT Vehicle by detecting traffic lights at intersections.</p>
},
	keywords = {Autonomous Driving, Neural Networks, Object Detection},
	author = {Rachel Kozel and Naeemah Robert}
}
@conference {482,
	title = {Safety and Stability Analysis of the FollowerStopper Traffic Wave Dampening Controller (Late-Breaking Poster)},
	booktitle = {American Control Conference},
	year = {2020},
	month = {07},
	author = {Chris Kreienkamp and Daniel Fishbein and Rahul Bhadani and Jonathan Sprinkle}
}
@conference {471,
	title = {Safety and stability analysis of FollowerStopper},
	booktitle = {CAT Vehicle Research Experience for Undergraduates},
	year = {2019},
	month = {08/2019},
	publisher = {The University of Arizona},
	organization = {The University of Arizona},
	address = {Tucson},
	abstract = {<p>In this paper, we demonstrate that the velocity controller, FollowerStopper, is safe and string unstable. FollowerStopper is a controller that is meant to be implemented on an autonomous vehicle or in an adaptive cruise control (ACC) system. Through mathematical proof, simulation in Simulink, and hardware in the loop implementation on a real autonomous vehicle through the Robot Operating System (ROS) and Gazebo, several results are achieved. It is found that an autonomous vehicle controlled by FollowerStopper will never crash. FollowerStopper will dissipate larger traffic waves from human-driven vehicles but will amplify smaller velocity perturbations that are created within the controller. Given the maximum LiDAR range of 81 m, FollowerStopper will never command a velocity greater than 13.69 m/s</p>
},
	keywords = {autonomous vehicles, control systems, intelligent transportation},
	url = {http://csl.arizona.edu/content/safety-and-stability-analysis-followerstopper},
	author = {Chris Kreienkamp and Daniel Fishbein and Rahul Bhadani and Jonathan Sprinkle}
}
@proceedings {sprinkle271,
	title = {Power Efficient Vehicular Ad Hoc Networks},
	year = {2016},
	month = {03/2016},
	pages = {26-31},
	address = {Reston, VA},
	abstract = {Inter-vehicular communication is a growing plat- form for improving roadway safety. The highly mobile nature of Vehicle to Vehicle communications causes rapid changes in network topologies and propagation conditions. Since the advent of Vehicular Ad-Hoc Networks (VANETs), over fifty routing protocols with attendant topologies have been proposed. Despite these protocols{\textquoteright} merits, many of them are not optimized for power management and frequency reuse. Our approach utilizes the one dimensional dynamic of divided highways to simplify the routing problem and reduce energy consumption. Since each car is aware of only two types of connections, up-road and down-road, we can form low power, line of sight links between adjacent vehicles. We also utilize a fuzzy logic algorithm that predicts the location of up-road cars to reduce interference from request for link signals. Once these links have been established, up-road vehicles send data down-road for a length of time based on the relative speed of the two vehicles. After this time period has expired the down-road vehicle must request additional information, restarting the timer. Data sent through the network will include information on up-road vehicles, and when required, messages such as accident notifications, alerts, and traffic warnings. Through simulation, we show that our approach to VANETs maintains its update frequency despite bumper to bumper traffic and uses two to five orders of magnitude less power than an IEEE 802.11 network with clustering and 1 mW transmit power. Overall, the network performs well and is a viable improvement to the standard.},
	author = {Sterling Holcomb and Audrey Knowlton and Juan Guerra and Hamed Asadi and Haris Volos and Jonathan Sprinkle and Tamal Bose}
}
@article { j:smc-a-camera-controller,
	title = {Model-Based Configuration of a Heterogeneous Human-in-the-loop Command and Control Simulation Environment},
	journal = {tbd},
	volume = {tbd},
	number = {tbd},
	year = {2012},
	pages = {(in preparation)},
	author = {Diyang Chu and Jacob Gulotta and Jonathan Sprinkle and Himanshu Neema and Harmon Nine and Nicholas Kottenstette and Graham Hemingway and Janos Sztipanovits}
}
@proceedings {p:DSM10,
	title = {10th Workshop on Domain-Specific Modeling ({DSM}{\textquoteright}10)},
	year = {2010},
	note = {{ISBN}: 978-952-60-1043-4},
	month = {October},
	publisher = {OOPSLA/SPLASH},
	editor = {Matti Rossi and Juka-Pekka Tolvanen and Jonathan Sprinkle and Steven Kelly}
}
@inbook { j:sprinkle-mbeerts4-2009,
	title = {Metamodelling},
	booktitle = {Model-Based Engineering of Embedded Real-Time Systems},
	series = {Lecture Notes in Computer Science},
	volume = {6100},
	year = {2010},
	pages = {59{\textendash}78},
	publisher = {Springer},
	organization = {Springer},
	chapter = {4},
	url = {http://www.springer.com/computer/swe/book/978-3-642-16276-3},
	author = {Jonathan Sprinkle and Bernhard Rumpe and Hans Vangheluwe and G{\'a}bor Karsai}
}
@inbook {cont:DSMBookChapter,
	title = {Domain-Specific Modeling},
	booktitle = {Handbook of Dynamic System Modeling},
	year = {2007},
	note = {ISBN: 1584885653},
	pages = {7-1{\textendash}7-20},
	publisher = {Chapman \& Hall/CRC},
	organization = {Chapman \& Hall/CRC},
	chapter = {7},
	author = {Jeffrey Gray and Juka-Pekka Tolvanen and Steven Kelly and Aniruddha Gokhale and Sandeep Neema and Jonathan Sprinkle},
	editor = {Paul A. Fishwick}
}
@article {j:SprinkleJVLC2004,
	title = {A Domain-Specific Visual Language for Domain Model Evolution},
	journal = {Journal of Visual Languages and Computing},
	volume = {15},
	number = {3-4},
	year = {2004},
	note = {Special Issue: Domain-Specific Modeling with Visual Languages},
	month = {June},
	pages = {291-307},
	url = {http://dx.doi.org/10.1016/j.jvlc.2004.01.006},
	author = {Jonathan Sprinkle and G{\'a}bor Karsai}
}
@conference {c:SprinkleCDC2004,
	title = {Encoding Aerial Pursuit/Evasion Games with Fixed Wing Aircraft into a Nonlinear Model Predictive Tracking Controller},
	booktitle = {Proceedings of the 43rd IEEE Conference on Decision and Control},
	volume = {3},
	year = {2004},
	month = {December},
	pages = {2609{\textendash}2614},
	doi = {10.1109/CDC.2004.1428851},
	url = {http://dx.doi.org/10.1109/CDC.2004.1428851},
	author = {Jonathan Sprinkle and J. Mikael Eklund and H. Jin Kim and S. Shankar Sastry}
}
@article {p:sprinkleNASAGSFC,
	title = {Pursuit/Evasion of Fixed-wing Aircraft through Model-Predictive Control},
	year = {2004},
	note = {The NASA/Goddard Space Flight Centers Information Science and Technology (IS\&T) Colloquium Series},
	month = {October},
	author = {Jonathan Sprinkle and J. Mikael Eklund and H. Jin Kim and S. Shankar Sastry}
}
@conference {c:SprinkleECBS2003,
	title = {Domain Translation Using Graph Transformations},
	booktitle = {Tenth IEEE International Conference and Workshop on the Engineering of Computer-Based Systems},
	year = {2003},
	month = {April},
	pages = {159{\textendash}168},
	doi = {10.1109/ECBS.2003.1194795},
	url = {http://dx.doi.org/10.1109/ECBS.2003.1194795},
	author = {Jonathan Sprinkle and Aditya Agrawal and T{\'\i}hamer Levendovszky and Feng Shi and G{\'a}bor Karsai}
}
@conference {w:SprinkleOOPSLA2003,
	title = {Model Migration through Visual Modeling},
	booktitle = {OOPSLA, 3rd ACM Workshop on Domain-Specific Modeling},
	year = {2003},
	month = {October},
	url = {http://www.isis.vanderbilt.edu/publications/archive/Sprinkle_J_10_26_2003_Model_Migr.pdf},
	author = {Jonathan Sprinkle and G{\'a}bor Karsai}
}
@article {j:KarsaiJUCS,
	title = {On the Use of Graph Transformation in the Formal Specification of Model Interpreters},
	journal = {Journal of Universal Computer Science},
	volume = {9},
	number = {11},
	year = {2003},
	month = {November},
	pages = {1296{\textendash}1321},
	url = {http://www.jucs.org/jucs_9_11/on_the_use_of/Karsai_G.pdf},
	author = {G{\'a}bor Karsai and Aditya Agrawal and Feng Shi and Jonathan Sprinkle}
}
@article {tr:ANTSTechReport,
	title = {Computer-aided aircraft maintenance scheduling},
	number = {ISIS-02-303},
	year = {2002},
	month = {November},
	publisher = {Vanderbilt University},
	type = {Tech. Rep.},
	address = {2015 Terrace Place},
	author = {Christopher P. van Buskirk and Benoit Dawant and G{\'a}bor Karsai and Jonathan Sprinkle and Gabor Szokoli and Karlkim Suwanmongkol and Russ Currer}
}
@conference {w:SprinkleOOPSLA2002,
	title = {Domain Evolution in Visual Languages Using Graph Transformations},
	booktitle = {OOPSLA, 2nd ACM OOPSLA Workshop on Domain-Specific Languages},
	year = {2002},
	month = {November},
	url = {http://www.isis.vanderbilt.edu/publications/archive/Sprinkle_JM_11_4_2002_Domain_Evo.doc},
	author = {Jonathan Sprinkle and Aditya Agrawal and T{\'\i}hamer Levendovszky and Feng Shi and G{\'a}bor Karsai}
}
@conference {w:Agrawal2002,
	title = {Generative Programming via Graph Transformations in the Model-Driven Architecture},
	booktitle = {OOPSLA, Workshop on Generative Techniques in the Context of Model Driven Architecture},
	year = {2002},
	month = {November},
	url = {http://www.isis.vanderbilt.edu/publications/archive/Agrawal_A_11_5_2002_Generative.pdf},
	author = {Aditya Agrawal and T{\'\i}hamer Levendovszky and Jonathan Sprinkle and Feng Shi and G{\'a}bor Karsai}
}
@article {j:LedecziComputer2001,
	title = {Composing Domain-Specific Design Environments},
	journal = {IEEE Computer},
	volume = {34},
	number = {11},
	year = {2001},
	month = {November},
	pages = {44{\textendash}51},
	doi = {10.1109/2.963443},
	url = {http://dx.doi.org/10.1109/2.963443},
	author = {{\'A}kos L{\'e}deczi and {\'A}rpad Bakay and Miklos Maroti and P{\'e}ter Volgyesi and Greg Nordstrom and Jonathan Sprinkle and G{\'a}bor Karsai}
}
@conference {c:SprinkleECBS2001,
	title = {The New Metamodeling Generation},
	booktitle = {Eighth Annual IEEE International Conference and Workshop on the Engineering of Computer Based Systems},
	year = {2001},
	month = {April},
	pages = {275{\textendash}279},
	doi = {10.1109/ECBS.2001.922433},
	url = {http://dx.doi.org/10.1109/ECBS.2001.922433},
	author = {Jonathan Sprinkle and G{\'a}bor Karsai and {\'A}kos L{\'e}deczi and Greg Nordstrom}
}
@conference {c:SprinkleSMC2000,
	title = {Modeling Agent Negotiation},
	booktitle = {Proceedings of the 2000 IEEE International Conference on Systems, Man, and Cybernetics},
	volume = {1},
	year = {2000},
	month = {October},
	pages = {454{\textendash}459},
	doi = {10.1109/ICSMC.2000.885034},
	url = {http://dx.doi.org/10.1109/ICSMC.2000.885034},
	author = {Jonathan Sprinkle and Christopher P. van Buskirk and G{\'a}bor Karsai}
}
